WO2022090512A3 - Outils pour tester des performances et/ou entraîner des planificateurs de véhicules autonomes - Google Patents

Outils pour tester des performances et/ou entraîner des planificateurs de véhicules autonomes Download PDF

Info

Publication number
WO2022090512A3
WO2022090512A3 PCT/EP2021/080206 EP2021080206W WO2022090512A3 WO 2022090512 A3 WO2022090512 A3 WO 2022090512A3 EP 2021080206 W EP2021080206 W EP 2021080206W WO 2022090512 A3 WO2022090512 A3 WO 2022090512A3
Authority
WO
WIPO (PCT)
Prior art keywords
ego
scenario
state
plans
planner
Prior art date
Application number
PCT/EP2021/080206
Other languages
English (en)
Other versions
WO2022090512A2 (fr
Inventor
Francisco EIRAS
Majd HAWASLY
Subramanian Ramamoorthy
Original Assignee
Five AI Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB2017253.2A external-priority patent/GB202017253D0/en
Priority claimed from GBGB2017252.4A external-priority patent/GB202017252D0/en
Application filed by Five AI Limited filed Critical Five AI Limited
Priority to EP21805430.2A priority Critical patent/EP4150426A2/fr
Priority to CN202180057120.3A priority patent/CN116134292A/zh
Priority to US18/011,016 priority patent/US20230219585A1/en
Publication of WO2022090512A2 publication Critical patent/WO2022090512A2/fr
Publication of WO2022090512A3 publication Critical patent/WO2022090512A3/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • G06F11/3672—Test management
    • G06F11/3692—Test management for test results analysis
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Artificial Intelligence (AREA)
  • Theoretical Computer Science (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Computer Hardware Design (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé mis en œuvre par ordinateur pour évaluer les performances d'un planificateur cible pour un robot ego dans un scénario réel ou simulé, le procédé comprenant les étapes consistant à : recevoir des données d'évaluation pour évaluer les performances du planificateur cible dans le scénario, les données d'évaluation étant générées par l'application du planificateur cible à des étapes de planification d'incrémentation, afin de calculer une série de plans d'ego qui répondent à des changements dans le scénario, la série de plans d'ego étant mise en œuvre dans le scénario pour provoquer des changements dans un état d'ego, les données d'évaluation comprenant : le plan d'ego calculé par le planificateur cible à l'une des étapes de planification, et un état de scénario à un instant du scénario, les données d'évaluation étant utilisées pour évaluer le planificateur cible par : calcul d'un plan de référence pour ledit instant temporel sur la base de l'état de scénario, l'état de scénario comprenant l'état d'ego à cet instant tel que provoqué par la mise en œuvre d'un ou de plusieurs plans d'ego précédents de la série de plans d'ego calculés par le planificateur cible, et calcul d'au moins un score d'évaluation pour comparer le plan d'ego avec le plan de référence.
PCT/EP2021/080206 2020-10-30 2021-10-29 Outils pour tester des performances et/ou entraîner des planificateurs de véhicules autonomes WO2022090512A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21805430.2A EP4150426A2 (fr) 2020-10-30 2021-10-29 Outils pour tester des performances et/ou entraîner des planificateurs de véhicules autonomes
CN202180057120.3A CN116134292A (zh) 2020-10-30 2021-10-29 用于性能测试和/或训练自动驾驶车辆规划器的工具
US18/011,016 US20230219585A1 (en) 2020-10-30 2021-10-29 Tools for performance testing and/or training autonomous vehicle planners

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GBGB2017253.2A GB202017253D0 (en) 2020-10-30 2020-10-30 Tools for performance testing and/or training autonomous vehicle planners
GB2017252.4 2020-10-30
GB2017253.2 2020-10-30
GBGB2017252.4A GB202017252D0 (en) 2020-10-30 2020-10-30 Planning in mobile robots

Publications (2)

Publication Number Publication Date
WO2022090512A2 WO2022090512A2 (fr) 2022-05-05
WO2022090512A3 true WO2022090512A3 (fr) 2022-06-02

Family

ID=78536183

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/080206 WO2022090512A2 (fr) 2020-10-30 2021-10-29 Outils pour tester des performances et/ou entraîner des planificateurs de véhicules autonomes

Country Status (4)

Country Link
US (1) US20230219585A1 (fr)
EP (1) EP4150426A2 (fr)
CN (1) CN116134292A (fr)
WO (1) WO2022090512A2 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220355822A1 (en) * 2021-05-10 2022-11-10 Toyota Research Institute, Inc. Method for enumerating homotopies for maneuvers using a hierarchy of tolerance relations
US11912311B2 (en) * 2021-08-10 2024-02-27 GM Global Technology Operations LLC System and method of detecting and mitigating erratic on-road vehicles
EP4361877A1 (fr) * 2022-10-28 2024-05-01 Aptiv Technologies AG Procédés et systèmes de génération d'informations de trajectoire d'une pluralité d'utilisateurs de route
CN117405131B (zh) * 2023-12-14 2024-02-23 中汽智联技术有限公司 偏转算法误差评定方法、设备和存储介质
CN117408439A (zh) * 2023-12-15 2024-01-16 广东省科技基础条件平台中心 一种航路规划算法性能的评价方法、装置、设备及介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020079074A2 (fr) * 2018-10-16 2020-04-23 Five AI Limited Planification de véhicule autonome
US20200326719A1 (en) * 2019-04-15 2020-10-15 Zenuity Ab Autonomous decisions in traffic situations with planning control

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4081876B1 (fr) 2020-01-28 2024-04-10 Five AI Limited Planification pour robots mobiles

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020079074A2 (fr) * 2018-10-16 2020-04-23 Five AI Limited Planification de véhicule autonome
US20200326719A1 (en) * 2019-04-15 2020-10-15 Zenuity Ab Autonomous decisions in traffic situations with planning control

Also Published As

Publication number Publication date
US20230219585A1 (en) 2023-07-13
WO2022090512A2 (fr) 2022-05-05
EP4150426A2 (fr) 2023-03-22
CN116134292A (zh) 2023-05-16

Similar Documents

Publication Publication Date Title
WO2022090512A3 (fr) Outils pour tester des performances et/ou entraîner des planificateurs de véhicules autonomes
WO2020180014A3 (fr) Procédé et système d'entraînement d'agent de conduite autonome sur la base d'un apprentissage de renforcement profond
Green The opportunity analysis canvas
Tobey A vignette-based method for improving cybersecurity talent management through cyber defense competition design
Ma et al. Effect of Student Ability and Question Difficulty on Duration.
Fatih et al. The metacognitive awarenesses of preservice secondary school mathematics teachers, beliefs, attitudes on problem solving, and relationship between them
RU172135U1 (ru) Система имитационного моделирования управления поисково-спасательными операциями с использованием морских роботизированных технологических комплексов
Yuh et al. A heuristic strategy for cognitive state-based feedback control to accelerate human learning
Gunchenko et al. Methodical complex of accelerated training for operators of unmanned aerial vehicles
Stevens-Adams et al. Performance assessment to enhance training effectiveness
Cooley et al. Operationalizing Artificial Intelligence in Simulation Based Training
CN112561405A (zh) 一种基于大数据的教师培养系统
RU164902U1 (ru) Система имитационного моделирования человеко-машинных систем управления морских объектов вмф
Frank et al. Implementing Competency-Based Assessment in a First Year Engineering Design Course
Nikolaidis et al. Human-robot interactive planning using cross-training: A human team training approach
Kwok et al. Ai-based situation awareness assessment
Trinh et al. Autonomous assessment of demonstration sufficiency via bayesian inverse reinforcement learning
Fayzrakhmanov et al. Improving the Efficiency of Professional Training of Operators of Technological Installations Based on Mathematical Modeling and Control of the Formation of Sensorimotor Skills
Tsaneva et al. A human computation approach for ontology restrictions verification
Cure A British Trade Union View of Organisation and JIT in the UK
Sharkh et al. Teaching Autonomous Vehicles at the Graduate Level: Challenges and Efficient Offering
Stevens et al. Experimental assessment of accuracy of automated knowledge capture
Popkov A virtual adaptive simulator as a skill formation tool for the operators of complex technical systems
Vilisov Internal control tools used within hierarchical organizational structures
Shebilske et al. A Team Training Paradigm for Better Combat Identification

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21805430

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 2021805430

Country of ref document: EP

Effective date: 20221216

NENP Non-entry into the national phase

Ref country code: DE